On the show, Cho talks with co-stars Heather McDonald, Marissa Jaret Winokur and Dr. Tiffanie Davis Henry, as well as viewers on social media, about everything from orgasms to anal sex.

Margaret Cho attends the 2011 A&E Television Networks Upfront Presentation at the IAC Building on May 4, 2011, in New York City.D Dipasupil/WireImage

“I wanted to do something like this for a long time,” says Cho. “I can speak at length about BDSM, polyamory, sex toys. These are my areas of expertise, so I have a different take to offer on relationships.”

“We talked about him in one of our episodes,” says Cho, “and he actually reached out [to me] and said he had a dream about me the night before. So hopefully he’ll come and be a guest.”

Cho’s open take on sexuality can be attributed to coming of age in San Francisco in the days of the AIDS crisis.

“After AIDS, people were really looking for a kind of sexuality where you would not be putting yourself at risk,” she says. “So activities like BDSM, these kinds of alternative sexual experiences, were very much what was happening in the late ’80s, early ’90s . . . in San Francisco. I witnessed all this stuff.”

Cho was exposed to the local culture at an early age, as she began performing stand-up comedy at 14.

“I was doing open mikes. I couldn’t actually be in the bar until I went onstage,” says the comedian, who performs at the Gramercy Theatre Friday and Saturday. “I’m really lucky I got to start that young, because I knew that was what I wanted to do with my life.”

Still, being able to present even jokey opposition to that oppressive government carries a deep meaning for the comic.

“It’s really empowering. It affects my family, [because] we’ve lost contact with half of our family for the last 65 years, so this is the only way you can get some satisfaction out of it,” says Cho.

“The only weapon I have is comedy, really. So it’s a great pleasure to make fun of the situation, to create some comedy to represent that side of my family.”

Cho is about to tape a comedy special, and says another thing she’ll focus on is the deaths last year of her friends Joan Rivers and Robin Williams. Williams in particular was a patriarchal figure to the group of comics Cho started with in San Francisco, and his death hit her hard.

She has dealt with his passing in part by continuing his work with the homeless. (Williams co-hosted the Comic Relief telethons that benefitted homelessness charities.)

“He was a great homeless advocate,” says Cho, who notes that Williams would often perform on the street in his early days, and she’s now continuing that aspect of his legacy.

“I put together this informal, ragtag bunch of performers to go out on the street,” she says. “We create a meeting point for people to donate food, clothing, toiletries and more to the homeless, and homeless people can come and get it. We stand on a street corner and perform for several hours. We were able to donate a lot of money to different homeless organizations here in the city.”

Given all the topics she deals with and action she takes, Cho is a great example of how, in this day and age, comedy has come to mean a lot more than just getting laughs. “We’re shaping the way the world views a lot of stuff,” she says. “I’m very excited about the fact that comedy’s more legitimate than it used to be.”